More then likely the transmission is shot and needs to be rebuilt .
See what the oil looks on the dip stick it should be red and not smell burnt .
If it looks OK then it could be a shift solenoid at any rate you need to take it a transmission shop this is not a job that can be done on a weekend in your drive way.
Time for a rebuild or replace. The 2nd/3rd clutches are usually the first to go.
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